void Awake()
{
stopwatch = new System.Diagnostics.Stopwatch();
stopwatch.Start();
// delegate method to be triggered when the new data is received from sensor.
urg.OnDistanceReceived += Urg_OnDistanceReceived;
// uncomment if you need some filters before clustering
urg.AddFilter(new TemporalMedianFilter(3));
urg.AddFilter(new SpatialMedianFilter(3));
urg.AddFilter(new DistanceFilter(2.25f));
urg.SetClusterExtraction(new EuclidianClusterExtraction(0.1f));
//cluster = new EuclidianClusterExtraction(0.1f);
var cam = Camera.main;
var plane = new Plane(Vector3.up, Vector3.zero);
var sensorCorners = new Vector2[4];
sensorCorners[0] = new Vector2(1.5f, 1f);
sensorCorners[1] = new Vector2(1.5f, -1f);
sensorCorners[2] = new Vector2(0.2f, -1f);
sensorCorners[3] = new Vector2(0.2f, 1f);
var worldCorners = new Vector3[4];
worldCorners[0] = Screen2WorldPosition(new Vector2(0, Screen.height), cam, plane);
worldCorners[1] = Screen2WorldPosition(new Vector2(Screen.width, Screen.height), cam, plane);
worldCorners[2] = Screen2WorldPosition(new Vector2(Screen.width, 0), cam, plane);
worldCorners[3] = Screen2WorldPosition(new Vector2(0, 0), cam, plane);
affineConverter = new AffineConverter(sensorCorners, worldCorners);
debugObjects = new List <GameObject>();
for (var i = 0; i < 100; i++)
{
var obj = GameObject.CreatePrimitive(PrimitiveType.Cube);
obj.transform.parent = transform;
obj.transform.localScale = 0.3f * Vector3.one;
debugObjects.Add(obj);
}
}
void Awake()
{
// delegate method to receive raw distance data from sensor.
urg.OnDistanceReceived += Urg_OnDistanceReceived;
// delegate method to receive filtered detected locations.
urg.OnLocationDetected += Urg_OnLocationDetected;
urg.AddFilter(new SpatialMedianFilter(3));
urg.AddFilter(new ClusteringFilter(0.15f));
var cam = Camera.main;
var plane = new Plane(Vector3.up, Vector3.zero);
var sensorCorners = new Vector2[4];
sensorCorners[0] = new Vector2(1.5f, 0.5f);
sensorCorners[1] = new Vector2(1.5f, -0.5f);
sensorCorners[2] = new Vector2(0.5f, -0.5f);
sensorCorners[3] = new Vector2(0.5f, 0.5f);
var worldCorners = new Vector3[4];
worldCorners[0] = Screen2WorldPosition(new Vector2(0, Screen.height), cam, plane);
worldCorners[1] = Screen2WorldPosition(new Vector2(Screen.width, Screen.height), cam, plane);
worldCorners[2] = Screen2WorldPosition(new Vector2(Screen.width, 0), cam, plane);
worldCorners[3] = Screen2WorldPosition(new Vector2(0, 0), cam, plane);
affineConverter = new AffineConverter(sensorCorners, worldCorners);
debugObjects = new List <GameObject>();
for (var i = 0; i < 100; i++)
{
var obj = GameObject.CreatePrimitive(PrimitiveType.Cube);
obj.transform.parent = transform;
obj.transform.localScale = 0.3f * Vector3.one;
debugObjects.Add(obj);
}
}